FB_VelocityRatioAlgorithm - General Information
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Type: |
Function block |
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Available as of: |
V1.0.0.0 |
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Inherits from: |
- |
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Implements: |
- |
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Versions: |
Current version |
Algorithm for the FB_Infeed POU that is designed for uniform product motion
The algorithm calculates a preferably flat velocity curve for a product that is transferred to the first belt controlled by it so that the product is located on the target allocated to it when leaving the last belt controlled by the algorithm. When the product is transferred to the first belt, the target is allocated to it that is closest to the target belt and can be reached with the set parameters.
The algorithm is intended for use with extraordinary, unordered product flows. In order to avoid idle cycles caused by irregularly incoming product flows, we recommend the use of a velocity feed forward control with the downstream machine. This can be achieved with the FB_VelocityRatioFeedForward POU.
The products are not transferred synchronously from one belt to the other when using this algorithm. Due to the velocity differences of the belts at product transfer, the algorithm is not suitable for sensitive products.
The algorithm requires at least 3 correction belts that all have to be configured as master belt with the target belt.
NOTE: The method IF_Infeed.EndOfAlgorithm has to be called cyclicly after the call of this function block. The function block does not take back the flags for product detection like xInkate by himself.
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Input |
Data type |
Description |
|---|---|---|
|
i_xEnable |
BOOL |
A rising edge FALSE -> TRUE activates the POU, a falling edge TRUE -> FALSE deactivates the POU. A deactivated POU does not execute any actions. |
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i_xStart |
BOOL |
TRUE: The algorithm is started. |
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i_xWsSelect |
BOOL |
If i_xWsSelect TRUE when the POU is started via i_xStart, a warm start is performed. |
|
i_xDiagQuit |
BOOL |
A rising edge FALSE -> TRUE acknowledges the diagnostic messages of the POU. |
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i_ifInfeed |
The instance of the FB_Infeed POU for which the algorithm is to be executed |
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Output |
Data type |
Description |
|---|---|---|
|
q_xActive |
BOOL |
TRUE: The POU is active and has to be executed further. FALSE: The POU is inactive. |
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q_xReady |
BOOL |
TRUE: The POU is ready to operate and can accept user commands. FALSE: The function block is not ready to accept user commands. |
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q_etDiag |
General library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message. |
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q_etDiagExt |
POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> status message q_etDiag <> GD.ET_Diag.Ok -> diagnostic message |
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q_sMsg |
STRING[80] |
Event-triggered message which gives more detailed information on the diagnostic state. |
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Input/Output |
Data type |
Description |
|---|---|---|
|
iq_stParameter |
ST_VelRatioParameter |
The parameters of the POU |
|
iq_stFeedback |
ST_VelRatioFeedback |
The return values of the POU |
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q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
1 |
The POU is disabled. |
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OK |
2 |
The POU is being initialized. |
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OK |
3 |
Waiting for starting command. |
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OK |
5 |
A warm start is being executed. |
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OK |
6 |
The POU is working. |
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ExecutionAborted |
74 |
The maximum number of manageable targets has been reached. |
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ExecutionAborted |
76 |
No target could be found. |
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InputParameterInvalid |
61 |
Acc is outside the valid range. |
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InputParameterInvalid |
106 |
BackwardCorrectionAlarmWindow is outside the valid range. |
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InputParameterInvalid |
77 |
BeltType is invalid. |
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InputParameterInvalid |
102 |
CamMasterMinVelocity is outside the valid range. |
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InputParameterInvalid |
62 |
Dec is outside the valid range. |
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InputParameterInvalid |
98 |
The specifications of FirstVelBeltIndex and LastVelBeltIndex are contradictory. |
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InputParameterInvalid |
96 |
FirstVelBeltIndex is outside the valid range. |
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InputParameterInvalid |
105 |
ForwardCorrectionLimitAlarmWindow is outside the valid range. |
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InputParameterInvalid |
94 |
An invalid infeed POU has been transferred. |
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InputParameterInvalid |
97 |
LastVelBeltIndex is outside the valid range. |
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InputParameterInvalid |
52 |
MasterBeltId is outside the valid range. |
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InputParameterInvalid |
103 |
MaxVelocityDifferencePercent is outside the valid range. |
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InputParameterInvalid |
101 |
RefreshBeltIndex is greater than LastBeltIndex. |
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InputParameterInvalid |
100 |
RefreshBeltIndex is smaller than FirstBeltIndex. |
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UnexpectedProgramBehavior |
78 |
Too many motion commands have been issued. |
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UnexpectedProgramBehavior |
74 |
The maximum number of manageable targets has been reached. |
|
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UnexpectedProgramBehavior |
48 |
The POU is in an undefined state. |
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|
UnexpectedProgramBehavior |
20 |
An unexpected error occurred during execution. |
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Enumeration name: |
AccRange |
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Enumeration value: |
61 |
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Description: |
Acc is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
At the FB_Infeed.ifVelRatio.lrAcc input, an invalid value has been transferred to the the infeed instance transferred at the i_ifInfeed input. |
A value greater than 0 must be transferred at the input FB_Infeed.ifVelRatio.lrAcc of the connected infeed instance. |
BackwardCorrectionAlarmWindowRange
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Enumeration name: |
BackwardCorrectionAlarmWindowRange |
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Enumeration value: |
106 |
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Description: |
BackwardCorrectionAlarmWindow is outside the valid range. |
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Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value has been transferred at the input iq_stParameter.lrBackwardCorrectionAlarmWindow. |
It must be made sure that a value greater than or equal to 0 is transferred at the input iq_stParameter.lrBackwardCorrectionAlarmWindow. |
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Enumeration name: |
BeltTypeInvalid |
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Enumeration value: |
77 |
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Description: |
BeltType is invalid. |
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Issue |
Cause |
Solution |
|---|---|---|
|
- |
The belt configuration of the infeed POU transferred at the i_ifInfeed input is not correct. |
The infeed POU transferred at the i_ifInfeed input must be parameterized with belts of type ET_BeltType.Series from iq_stParameter.udiFirstVelBeltIndex to iq_stParameter.udiLastVelBeltIndex. |
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Enumeration name: |
CamMasterMinVelocityRange |
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Enumeration value: |
102 |
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Description: |
CamMasterMinVelocity is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value has been transferred at the input iq_stParameter.lrCamMasterMinVelocity. |
It must be made sure that a value greater than or equal to 1.0 is transferred at the input iq_stParameter.lrCamMasterMinVelocity. |
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Enumeration name: |
DecRange |
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Enumeration value: |
62 |
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Description: |
Dec is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
At the FB_Infeed.ifVelRatio.lrDec input, an invalid value has been transferred to the infeed instance transferred at the i_ifInfeed input. |
A value greater than 0 must be transferred at the input FB_Infeed.ifVelRatio.lrDec of the connected infeed instance. |
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Enumeration name: |
Disabled |
|
Enumeration value: |
1 |
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Description: |
The POU is disabled. |
The function block is deactivated, it executes no actions whatsoever. i_xEnable and q_xActive have the value FALSE.
FirstLastVelBeltIndexMissmatch
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Enumeration name: |
FirstLastVelBeltIndexMissmatch |
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Enumeration value: |
98 |
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Description: |
The specifications of FirstVelBeltIndex and LastVelBeltIndex are contradictory. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The values transferred at the inputs iq_stParameter.udiFirstVelBeltIndex and iq_stParameter.udiLastVelBeltIndex do not match. |
It must be made sure that the value of the input iq_stParameter.udiLastVelBeltIndex is greater than or equal to the value of iq_stParameter.udiFirstVelBeltIndex plus two. |
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Enumeration name: |
FirstVelBeltIndexRange |
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Enumeration value: |
96 |
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Description: |
FirstVelBeltIndex is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value has been transferred at the input iq_stParameter.udiFirstVelBeltIndex. |
It must be made sure that a value is transferred at the iq_stParameter.udiFirstVelBeltIndex input that is greater than 0 and smaller than the number of parameterized belts of the infeed instance transferred at the i_ifInfeed input. |
ForwardCorrectionLimitAlarmWindowRange
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Enumeration name: |
ForwardCorrectionLimitAlarmWindowRange |
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Enumeration value: |
105 |
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Description: |
ForwardCorrectionLimitAlarmWindow is outside the valid range. |
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Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value has been transferred at the input iq_stParameter.lrForwardCorrectionLimitAlarmWindow. |
It must be made sure that a value greater than or equal to 0 is transferred at the input iq_stParameter.lrForwardCorrectionLimitAlarmWindow. |
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Enumeration name: |
InfeedInvalid |
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Enumeration value: |
94 |
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Description: |
An invalid infeed POU has been transferred. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value has been transferred at the input i_ifInfeed. |
It must be made sure that the instance of the FB_Infeed POU is transferred at the i_ifInfeed input on which the algorithm shall work. |
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Enumeration name: |
Initializing |
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Enumeration value: |
2 |
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Description: |
The POU is being initialized. |
The POU is being initialized and thus is not yet ready to receive commands at its inputs.
The POU will signalize that it is ready for operation with the signal q_xReady = TRUE.
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Enumeration name: |
JobBufferOverflow |
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Enumeration value: |
78 |
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Description: |
Too many motion commands have been issued. |
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Issue |
Cause |
Solution |
|---|---|---|
|
- |
An error occurred in the internal execution. |
Please inform the support team about this error. |
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Enumeration name: |
LastVelBeltIndexRange |
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Enumeration value: |
97 |
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Description: |
LastVelBeltIndex is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value has been transferred at the input iq_stParameter.udiLastVelBeltIndex. |
It must be made sure that a value is transferred at the iq_stParameter.udiLastVelBeltIndex input that is greater than 0 and smaller than the number of parameterized belts of the infeed instance transferred at the i_ifInfeed input. |
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Enumeration name: |
MasterBeltIdRange |
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Enumeration value: |
52 |
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Description: |
MasterBeltId is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The belt configuration of the infeed POU transferred at the i_ifInfeed input is not correct. |
The belts from iq_stParameter.udiFirstVelBeltIndex to iq_stParameter.udiLastVelBeltIndex of the infeed POU transferred at the i_ifInfeed input must all have been allocated the last belt of the infeed distance as cam master. |
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Enumeration name: |
MaxNrOfTargetsReached |
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Enumeration value: |
74 |
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Description: |
The maximum number of manageable targets has been reached. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
More products have been detected than targets are available. |
The method IF_Infeed.EndOfAlgorithm has to be called cyclicyaly after the call of this function block. The value of Gc_udiMaxNumberOfTargets must be increased. It must be made sure that always less than Gc_udiMaxNumberOfTargets products are located on the belts from iq_stParameter.udiFirstVelBeltIndex to iq_stParameter.udiLastVelBeltIndex. |
MaxVelocityDifferencePercentRange
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Enumeration name: |
MaxVelocityDifferencePercentRange |
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Enumeration value: |
103 |
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Description: |
MaxVelocityDifferencePercent is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value has been transferred at the input iq_stParameter.lrMaxVelocityDifferencePercent. |
It must be made sure that a value greater than 0 and smaller than 100 is transferred at the input iq_stParameter.lrMaxVelocityDifferencePercent. |
|
Enumeration name: |
NoTargetExisting |
|
Enumeration value: |
76 |
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Description: |
No target could be found. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The target allocated to a product has been deleted. |
It must be made sure that targets are not deleted before the product allocated to it has left the last belt controlled by the algorithm. |
RefreshBeltIndexHigherLastBeltIndex
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Enumeration name: |
RefreshBeltIndexHigherLastBeltIndex |
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Enumeration value: |
101 |
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Description: |
RefreshBeltIndex is greater than LastBeltIndex. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The values transferred at the inputs iq_stParameter.udiRefreshVelRatioBeltIndex and iq_stParameter.udiLastVelBeltIndex do not match. |
It must be made sure that the value of the input iq_stParameter.udiLastVelBeltIndex is greater than or equal to the value of iq_stParameter.udiRefreshVelRatioBeltIndex. |
RefreshBeltIndexLowerFirstBeltIndex
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Enumeration name: |
RefreshBeltIndexLowerFirstBeltIndex |
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Enumeration value: |
100 |
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Description: |
RefreshBeltIndex is smaller than FirstBeltIndex. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The values transferred at the inputs iq_stParameter.udiRefreshVelRatioBeltIndex and iq_stParameter.udiFirstVelBeltIndex do not match. |
It must be made sure that the value of the input iq_stParameter.udiFirstVelBeltIndex is smaller than or equal to the value of iq_stParameter.udiRefreshVelRatioBeltIndex. |
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Enumeration name: |
UnknownCase |
|
Enumeration value: |
48 |
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Description: |
The POU is in an undefined state. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An error occurred in the internal execution. |
Please inform the support team about this error. |
|
Enumeration name: |
UnknownFeedback |
|
Enumeration value: |
20 |
|
Description: |
An unexpected error occurred during execution. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An error occurred in the internal execution. |
Please inform the support team about this error. |
|
Enumeration name: |
WaitForStart |
|
Enumeration value: |
3 |
|
Description: |
Waiting for starting command. |
The POU has completed its initialization and is waiting for a positive edge at the i_xStart input before continuing the processing.
|
Enumeration name: |
WarmstartExecuting |
|
Enumeration value: |
5 |
|
Description: |
A warm start is being executed. |
A warm start is being executed.
|
Enumeration name: |
Working |
|
Enumeration value: |
6 |
|
Description: |
The POU is working. |
The algorithm controls the belts.
|
Name |
Description |
|---|---|
|
Registers the internal logger point in the Application Logger. |
|
Name |
Data type |
Accessing |
Description |
|---|---|---|---|
|
lrDeltaXMax |
LREAL |
Read |
|
|
lrDeltaXMin |
LREAL |
Read |
|
|
lrNextTargetDistance |
LREAL |
Read |
|
